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remApi.m
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remApi.m
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classdef remApi
properties
libName;
hFile;
end
properties (Constant)
% Scene object types
sim_object_shape_type =0;
sim_object_joint_type =1;
sim_object_graph_type =2;
sim_object_camera_type =3;
sim_object_dummy_type =4;
sim_object_proximitysensor_type =5;
sim_object_reserved1 =6;
sim_object_reserved2 =7;
sim_object_path_type =8;
sim_object_visionsensor_type =9;
sim_object_volume_type =10;
sim_object_mill_type =11;
sim_object_forcesensor_type =12;
sim_object_light_type =13;
sim_object_mirror_type =14;
%General object types
sim_appobj_object_type =109;
sim_appobj_collision_type =110;
sim_appobj_distance_type =111;
sim_appobj_simulation_type =112;
sim_appobj_ik_type =113;
sim_appobj_constraintsolver_type=114;
sim_appobj_collection_type =115;
sim_appobj_ui_type =116;
sim_appobj_script_type =117;
sim_appobj_pathplanning_type =118;
sim_appobj_RESERVED_type =119;
sim_appobj_texture_type =120;
% Ik calculation methods
sim_ik_pseudo_inverse_method =0;
sim_ik_damped_least_squares_method =1;
sim_ik_jacobian_transpose_method =2;
% Ik constraints
sim_ik_x_constraint =1;
sim_ik_y_constraint =2;
sim_ik_z_constraint =4;
sim_ik_alpha_beta_constraint=8;
sim_ik_gamma_constraint =16;
sim_ik_avoidance_constraint =64;
% Ik calculation results
sim_ikresult_not_performed =0;
sim_ikresult_success =1;
sim_ikresult_fail =2;
% Scene object sub-types
sim_light_omnidirectional_subtype =1;
sim_light_spot_subtype =2;
sim_light_directional_subtype =3;
sim_joint_revolute_subtype =10;
sim_joint_prismatic_subtype =11;
sim_joint_spherical_subtype =12;
sim_shape_simpleshape_subtype =20;
sim_shape_multishape_subtype =21;
sim_proximitysensor_pyramid_subtype =30;
sim_proximitysensor_cylinder_subtype=31;
sim_proximitysensor_disc_subtype =32;
sim_proximitysensor_cone_subtype =33;
sim_proximitysensor_ray_subtype =34;
sim_mill_pyramid_subtype =40;
sim_mill_cylinder_subtype =41;
sim_mill_disc_subtype =42;
sim_mill_cone_subtype =42;
sim_object_no_subtype =200;
%Scene object main properties
sim_objectspecialproperty_collidable =1;
sim_objectspecialproperty_measurable =2;
sim_objectspecialproperty_detectable_ultrasonic =16;
sim_objectspecialproperty_detectable_infrared =32;
sim_objectspecialproperty_detectable_laser =64;
sim_objectspecialproperty_detectable_inductive =128;
sim_objectspecialproperty_detectable_capacitive =256;
sim_objectspecialproperty_renderable =512;
sim_objectspecialproperty_detectable_all =496;
sim_objectspecialproperty_cuttable =1024;
sim_objectspecialproperty_pathplanning_ignored =2048;
% Model properties
sim_modelproperty_not_collidable =1;
sim_modelproperty_not_measurable =2;
sim_modelproperty_not_renderable =4;
sim_modelproperty_not_detectable =8;
sim_modelproperty_not_cuttable =16;
sim_modelproperty_not_dynamic =32;
sim_modelproperty_not_respondable =64;
sim_modelproperty_not_reset =128;
sim_modelproperty_not_visible =256;
sim_modelproperty_not_model =61440;
% Check the documentation instead of comments below!!
sim_message_ui_button_state_change =0;
sim_message_reserved9 =1;
sim_message_object_selection_changed=2;
sim_message_reserved10 =3;
sim_message_model_loaded =4;
sim_message_reserved11 =5;
sim_message_keypress =6;
sim_message_bannerclicked =7;
sim_message_for_c_api_only_start =256;
sim_message_reserved1 =257;
sim_message_reserved2 =258;
sim_message_reserved3 =259;
sim_message_eventcallback_scenesave =260;
sim_message_eventcallback_modelsave =261;
sim_message_eventcallback_moduleopen =262;
sim_message_eventcallback_modulehandle =263;
sim_message_eventcallback_moduleclose =264;
sim_message_reserved4 =265;
sim_message_reserved5 =266;
sim_message_reserved6 =267;
sim_message_reserved7 =268;
sim_message_eventcallback_instancepass =269;
sim_message_eventcallback_broadcast =270;
sim_message_eventcallback_imagefilter_enumreset =271;
sim_message_eventcallback_imagefilter_enumerate =272;
sim_message_eventcallback_imagefilter_adjustparams =273;
sim_message_eventcallback_imagefilter_reserved =274;
sim_message_eventcallback_imagefilter_process =275;
sim_message_eventcallback_reserved1 =276;
sim_message_eventcallback_reserved2 =277;
sim_message_eventcallback_reserved3 =278;
sim_message_eventcallback_reserved4 =279;
sim_message_eventcallback_abouttoundo =280;
sim_message_eventcallback_undoperformed =281;
sim_message_eventcallback_abouttoredo =282;
sim_message_eventcallback_redoperformed =283;
sim_message_eventcallback_scripticondblclick =284;
sim_message_eventcallback_simulationabouttostart =285;
sim_message_eventcallback_simulationended =286;
sim_message_eventcallback_reserved5 =287;
sim_message_eventcallback_keypress =288;
sim_message_eventcallback_modulehandleinsensingpart =289;
sim_message_eventcallback_renderingpass =290;
sim_message_eventcallback_bannerclicked =291;
sim_message_eventcallback_menuitemselected =292;
sim_message_eventcallback_refreshdialogs =293;
sim_message_eventcallback_sceneloaded =294;
sim_message_eventcallback_modelloaded =295;
sim_message_eventcallback_instanceswitch =296;
sim_message_eventcallback_guipass =297;
sim_message_eventcallback_mainscriptabouttobecalled =298;
sim_message_eventcallback_rmlposition =299;
sim_message_eventcallback_rmlvelocity =300;
sim_message_simulation_start_resume_request =4096;
sim_message_simulation_pause_request =4097;
sim_message_simulation_stop_request =4098;
% Scene object properties
sim_objectproperty_collapsed =16;
sim_objectproperty_selectable =32;
sim_objectproperty_reserved7 =64;
sim_objectproperty_selectmodelbaseinstead =128;
sim_objectproperty_dontshowasinsidemodel =256;
sim_objectproperty_canupdatedna =1024;
sim_objectproperty_selectinvisible =2048;
sim_objectproperty_depthinvisible =4096;
% type of arguments (input and output) for custom lua commands
sim_lua_arg_nil =0;
sim_lua_arg_bool =1;
sim_lua_arg_int =2;
sim_lua_arg_float =3;
sim_lua_arg_string =4;
sim_lua_arg_invalid =5;
sim_lua_arg_table =8;
% custom user interface properties
sim_ui_property_visible =1;
sim_ui_property_visibleduringsimulationonly =2;
sim_ui_property_moveable =4;
sim_ui_property_relativetoleftborder =8;
sim_ui_property_relativetotopborder =16;
sim_ui_property_fixedwidthfont =32;
sim_ui_property_systemblock =64;
sim_ui_property_settocenter =128;
sim_ui_property_rolledup =256;
sim_ui_property_selectassociatedobject =512;
sim_ui_property_visiblewhenobjectselected =1024;
% button properties
sim_buttonproperty_button =0;
sim_buttonproperty_label =1;
sim_buttonproperty_slider =2;
sim_buttonproperty_editbox =3;
sim_buttonproperty_staydown =8;
sim_buttonproperty_enabled =16;
sim_buttonproperty_borderless =32;
sim_buttonproperty_horizontallycentered =64;
sim_buttonproperty_ignoremouse =128;
sim_buttonproperty_isdown =256;
sim_buttonproperty_transparent =512;
sim_buttonproperty_nobackgroundcolor =1024;
sim_buttonproperty_rollupaction =2048;
sim_buttonproperty_closeaction =4096;
sim_buttonproperty_verticallycentered =8192;
sim_buttonproperty_downupevent =16384;
% Simulation status
sim_simulation_stopped =0;
sim_simulation_paused =8;
sim_simulation_advancing =16;
sim_simulation_advancing_firstafterstop =16;
sim_simulation_advancing_running =17;
sim_simulation_advancing_lastbeforepause =19;
sim_simulation_advancing_firstafterpause =20;
sim_simulation_advancing_abouttostop =21;
sim_simulation_advancing_lastbeforestop =22;
% Script execution result (first return value)
sim_script_no_error =0;
sim_script_main_script_nonexistent =1;
sim_script_main_script_not_called =2;
sim_script_reentrance_error =4;
sim_script_lua_error =8;
sim_script_call_error =16;
% Script types
sim_scripttype_mainscript =0;
sim_scripttype_childscript =1;
sim_scripttype_jointctrlcallback =4;
sim_scripttype_contactcallback =5;
sim_scripttype_customizationscript =6;
sim_scripttype_generalcallback =7;
% API call error messages
sim_api_errormessage_ignore =0;
sim_api_errormessage_report =1;
sim_api_errormessage_output =2;
% special argument of some functions
sim_handle_all =-2;
sim_handle_all_except_explicit =-3;
sim_handle_self =-4;
sim_handle_main_script =-5;
sim_handle_tree =-6;
sim_handle_chain =-7;
sim_handle_single =-8;
sim_handle_default =-9;
sim_handle_all_except_self =-10;
sim_handle_parent =-11;
% special handle flags
sim_handleflag_assembly =4194304;
sim_handleflag_model =8388608;
% distance calculation methods
sim_distcalcmethod_dl =0;
sim_distcalcmethod_dac =1;
sim_distcalcmethod_max_dl_dac =2;
sim_distcalcmethod_dl_and_dac =3;
sim_distcalcmethod_sqrt_dl2_and_dac2=4;
sim_distcalcmethod_dl_if_nonzero =5;
sim_distcalcmethod_dac_if_nonzero =6;
% Generic dialog styles
sim_dlgstyle_message =0;
sim_dlgstyle_input =1;
sim_dlgstyle_ok =2;
sim_dlgstyle_ok_cancel =3;
sim_dlgstyle_yes_no =4;
sim_dlgstyle_dont_center =32;
% Generic dialog return values
sim_dlgret_still_open =0;
sim_dlgret_ok =1;
sim_dlgret_cancel =2;
sim_dlgret_yes =3;
sim_dlgret_no =4;
% Path properties
sim_pathproperty_show_line =1;
sim_pathproperty_show_orientation =2;
sim_pathproperty_closed_path =4;
sim_pathproperty_automatic_orientation =8;
sim_pathproperty_invert_velocity =16;
sim_pathproperty_infinite_acceleration =32;
sim_pathproperty_flat_path =64;
sim_pathproperty_show_position =128;
sim_pathproperty_auto_velocity_profile_translation =256;
sim_pathproperty_auto_velocity_profile_rotation =512;
sim_pathproperty_endpoints_at_zero =1024;
sim_pathproperty_keep_x_up =2048;
% drawing objects
sim_drawing_points =0;
sim_drawing_lines =1;
sim_drawing_triangles =2;
sim_drawing_trianglepoints =3;
sim_drawing_quadpoints =4;
sim_drawing_discpoints =5;
sim_drawing_cubepoints =6;
sim_drawing_spherepoints =7;
sim_drawing_itemcolors =32;
sim_drawing_vertexcolors =64;
sim_drawing_itemsizes =128;
sim_drawing_backfaceculling =256;
sim_drawing_wireframe =512;
sim_drawing_painttag =1024;
sim_drawing_followparentvisibility =2048;
sim_drawing_cyclic =4096;
sim_drawing_50percenttransparency =8192;
sim_drawing_25percenttransparency =16384;
sim_drawing_12percenttransparency =32768;
sim_drawing_emissioncolor =65536;
sim_drawing_facingcamera =131072;
sim_drawing_overlay =262144;
sim_drawing_itemtransparency =524288;
% banner values
sim_banner_left =1;
sim_banner_right =2;
sim_banner_nobackground =4;
sim_banner_overlay =8;
sim_banner_followparentvisibility =16;
sim_banner_clickselectsparent =32;
sim_banner_clicktriggersevent =64;
sim_banner_facingcamera =128;
sim_banner_fullyfacingcamera =256;
sim_banner_backfaceculling =512;
sim_banner_keepsamesize =1024;
sim_banner_bitmapfont =2048;
% particle objects
sim_particle_points1 =0;
sim_particle_points2 =1;
sim_particle_points4 =2;
sim_particle_roughspheres =3;
sim_particle_spheres =4;
sim_particle_respondable1to4 =32;
sim_particle_respondable5to8 =64;
sim_particle_particlerespondable =128;
sim_particle_ignoresgravity =256;
sim_particle_invisible =512;
sim_particle_itemsizes =1024;
sim_particle_itemdensities =2048;
sim_particle_itemcolors =4096;
sim_particle_cyclic =8192;
sim_particle_emissioncolor =16384;
sim_particle_water =32768;
sim_particle_painttag =65536;
% custom user interface menu attributes
sim_ui_menu_title =1;
sim_ui_menu_minimize =2;
sim_ui_menu_close =4;
sim_ui_menu_systemblock =8;
% Boolean parameters
sim_boolparam_hierarchy_visible =0;
sim_boolparam_console_visible =1;
sim_boolparam_collision_handling_enabled =2;
sim_boolparam_distance_handling_enabled =3;
sim_boolparam_ik_handling_enabled =4;
sim_boolparam_gcs_handling_enabled =5;
sim_boolparam_dynamics_handling_enabled =6;
sim_boolparam_joint_motion_handling_enabled =7;
sim_boolparam_path_motion_handling_enabled =8;
sim_boolparam_proximity_sensor_handling_enabled =9;
sim_boolparam_vision_sensor_handling_enabled =10;
sim_boolparam_mill_handling_enabled =11;
sim_boolparam_browser_visible =12;
sim_boolparam_scene_and_model_load_messages =13;
sim_reserved0 =14;
sim_boolparam_shape_textures_are_visible =15;
sim_boolparam_display_enabled =16;
sim_boolparam_infotext_visible =17;
sim_boolparam_statustext_open =18;
sim_boolparam_fog_enabled =19;
sim_boolparam_rml2_available =20;
sim_boolparam_rml4_available =21;
sim_boolparam_mirrors_enabled =22;
sim_boolparam_aux_clip_planes_enabled =23;
sim_boolparam_full_model_copy_from_api =24;
sim_boolparam_realtime_simulation =25;
sim_boolparam_force_show_wireless_emission =27;
sim_boolparam_force_show_wireless_reception =28;
sim_boolparam_video_recording_triggered =29;
sim_boolparam_threaded_rendering_enabled =32;
sim_boolparam_fullscreen =33;
sim_boolparam_headless =34;
sim_boolparam_hierarchy_toolbarbutton_enabled =35;
sim_boolparam_browser_toolbarbutton_enabled =36;
sim_boolparam_objectshift_toolbarbutton_enabled =37;
sim_boolparam_objectrotate_toolbarbutton_enabled=38;
sim_boolparam_force_calcstruct_all_visible =39;
sim_boolparam_force_calcstruct_all =40;
sim_boolparam_exit_request =41;
sim_boolparam_play_toolbarbutton_enabled =42;
sim_boolparam_pause_toolbarbutton_enabled =43;
sim_boolparam_stop_toolbarbutton_enabled =44;
sim_boolparam_waiting_for_trigger =45;
% Integer parameters
sim_intparam_error_report_mode =0;
sim_intparam_program_version =1;
sim_intparam_instance_count =2;
sim_intparam_custom_cmd_start_id =3;
sim_intparam_compilation_version =4;
sim_intparam_current_page =5;
sim_intparam_flymode_camera_handle =6;
sim_intparam_dynamic_step_divider =7;
sim_intparam_dynamic_engine =8;
sim_intparam_server_port_start =9;
sim_intparam_server_port_range =10;
sim_intparam_visible_layers =11;
sim_intparam_infotext_style =12;
sim_intparam_settings =13;
sim_intparam_edit_mode_type =14;
sim_intparam_server_port_next =15;
sim_intparam_qt_version =16;
sim_intparam_event_flags_read =17;
sim_intparam_event_flags_read_clear =18;
sim_intparam_platform =19;
sim_intparam_scene_unique_id =20;
sim_intparam_work_thread_count =21;
sim_intparam_mouse_x =22;
sim_intparam_mouse_y =23;
sim_intparam_core_count =24;
sim_intparam_work_thread_calc_time_ms =25;
sim_intparam_idle_fps =26;
sim_intparam_prox_sensor_select_down =27;
sim_intparam_prox_sensor_select_up =28;
sim_intparam_stop_request_counter =29;
sim_intparam_program_revision =30;
sim_intparam_mouse_buttons =31;
sim_intparam_dynamic_warning_disabled_mask =32;
sim_intparam_simulation_warning_disabled_mask =33;
sim_intparam_scene_index =34;
sim_intparam_motionplanning_seed =35;
sim_intparam_speedmodifier =36;
% Float parameters
sim_floatparam_rand =0;
sim_floatparam_simulation_time_step =1;
sim_floatparam_stereo_distance =2;
% String parameters
sim_stringparam_application_path =0;
sim_stringparam_video_filename =1;
sim_stringparam_app_arg1 =2;
sim_stringparam_app_arg2 =3;
sim_stringparam_app_arg3 =4;
sim_stringparam_app_arg4 =5;
sim_stringparam_app_arg5 =6;
sim_stringparam_app_arg6 =7;
sim_stringparam_app_arg7 =8;
sim_stringparam_app_arg8 =9;
sim_stringparam_app_arg9 =10;
sim_stringparam_scene_path_and_name =13;
% Array parameters
sim_arrayparam_gravity =0;
sim_arrayparam_fog =1;
sim_arrayparam_fog_color =2;
sim_arrayparam_background_color1=3;
sim_arrayparam_background_color2=4;
sim_arrayparam_ambient_light =5;
sim_arrayparam_random_euler =6;
sim_objintparam_visibility_layer= 10;
sim_objfloatparam_abs_x_velocity= 11;
sim_objfloatparam_abs_y_velocity= 12;
sim_objfloatparam_abs_z_velocity= 13;
sim_objfloatparam_abs_rot_velocity= 14;
sim_objfloatparam_objbbox_min_x= 15;
sim_objfloatparam_objbbox_min_y= 16;
sim_objfloatparam_objbbox_min_z= 17;
sim_objfloatparam_objbbox_max_x= 18;
sim_objfloatparam_objbbox_max_y= 19;
sim_objfloatparam_objbbox_max_z= 20;
sim_objfloatparam_modelbbox_min_x= 21;
sim_objfloatparam_modelbbox_min_y= 22;
sim_objfloatparam_modelbbox_min_z= 23;
sim_objfloatparam_modelbbox_max_x= 24;
sim_objfloatparam_modelbbox_max_y= 25;
sim_objfloatparam_modelbbox_max_z= 26;
sim_objintparam_collection_self_collision_indicator= 27;
sim_objfloatparam_transparency_offset= 28;
sim_objintparam_child_role= 29;
sim_objintparam_parent_role= 30;
sim_objintparam_manipulation_permissions= 31;
sim_objintparam_illumination_handle= 32;
sim_visionfloatparam_near_clipping= 1000;
sim_visionfloatparam_far_clipping= 1001;
sim_visionintparam_resolution_x= 1002;
sim_visionintparam_resolution_y= 1003;
sim_visionfloatparam_perspective_angle= 1004;
sim_visionfloatparam_ortho_size= 1005;
sim_visionintparam_disabled_light_components= 1006;
sim_visionintparam_rendering_attributes= 1007;
sim_visionintparam_entity_to_render= 1008;
sim_visionintparam_windowed_size_x= 1009;
sim_visionintparam_windowed_size_y= 1010;
sim_visionintparam_windowed_pos_x= 1011;
sim_visionintparam_windowed_pos_y= 1012;
sim_visionintparam_pov_focal_blur= 1013;
sim_visionfloatparam_pov_blur_distance= 1014;
sim_visionfloatparam_pov_aperture= 1015;
sim_visionintparam_pov_blur_sampled= 1016;
sim_visionintparam_render_mode= 1017;
sim_jointintparam_motor_enabled= 2000;
sim_jointintparam_ctrl_enabled= 2001;
sim_jointfloatparam_pid_p= 2002;
sim_jointfloatparam_pid_i= 2003;
sim_jointfloatparam_pid_d= 2004;
sim_jointfloatparam_intrinsic_x= 2005;
sim_jointfloatparam_intrinsic_y= 2006;
sim_jointfloatparam_intrinsic_z= 2007;
sim_jointfloatparam_intrinsic_qx= 2008;
sim_jointfloatparam_intrinsic_qy= 2009;
sim_jointfloatparam_intrinsic_qz= 2010;
sim_jointfloatparam_intrinsic_qw= 2011;
sim_jointfloatparam_velocity= 2012;
sim_jointfloatparam_spherical_qx= 2013;
sim_jointfloatparam_spherical_qy= 2014;
sim_jointfloatparam_spherical_qz= 2015;
sim_jointfloatparam_spherical_qw= 2016;
sim_jointfloatparam_upper_limit= 2017;
sim_jointfloatparam_kc_k= 2018;
sim_jointfloatparam_kc_c= 2019;
sim_jointfloatparam_ik_weight= 2021;
sim_jointfloatparam_error_x= 2022;
sim_jointfloatparam_error_y= 2023;
sim_jointfloatparam_error_z= 2024;
sim_jointfloatparam_error_a= 2025;
sim_jointfloatparam_error_b= 2026;
sim_jointfloatparam_error_g= 2027;
sim_jointfloatparam_error_pos= 2028;
sim_jointfloatparam_error_angle= 2029;
sim_jointintparam_velocity_lock= 2030;
sim_jointintparam_vortex_dep_handle= 2031;
sim_jointfloatparam_vortex_dep_multiplication= 2032;
sim_jointfloatparam_vortex_dep_offset= 2033;
sim_shapefloatparam_init_velocity_x= 3000;
sim_shapefloatparam_init_velocity_y= 3001;
sim_shapefloatparam_init_velocity_z= 3002;
sim_shapeintparam_static= 3003;
sim_shapeintparam_respondable= 3004;
sim_shapefloatparam_mass= 3005;
sim_shapefloatparam_texture_x= 3006;
sim_shapefloatparam_texture_y= 3007;
sim_shapefloatparam_texture_z= 3008;
sim_shapefloatparam_texture_a= 3009;
sim_shapefloatparam_texture_b= 3010;
sim_shapefloatparam_texture_g= 3011;
sim_shapefloatparam_texture_scaling_x= 3012;
sim_shapefloatparam_texture_scaling_y= 3013;
sim_shapeintparam_culling= 3014;
sim_shapeintparam_wireframe= 3015;
sim_shapeintparam_compound= 3016;
sim_shapeintparam_convex= 3017;
sim_shapeintparam_convex_check= 3018;
sim_shapeintparam_respondable_mask= 3019;
sim_shapefloatparam_init_velocity_a= 3020;
sim_shapefloatparam_init_velocity_b= 3021;
sim_shapefloatparam_init_velocity_g= 3022;
sim_shapestringparam_color_name= 3023;
sim_shapeintparam_edge_visibility= 3024;
sim_shapefloatparam_shading_angle= 3025;
sim_shapefloatparam_edge_angle= 3026;
sim_shapeintparam_edge_borders_hidden= 3027;
sim_proxintparam_ray_invisibility= 4000;
sim_forcefloatparam_error_x= 5000;
sim_forcefloatparam_error_y= 5001;
sim_forcefloatparam_error_z= 5002;
sim_forcefloatparam_error_a= 5003;
sim_forcefloatparam_error_b= 5004;
sim_forcefloatparam_error_g= 5005;
sim_forcefloatparam_error_pos= 5006;
sim_forcefloatparam_error_angle= 5007;
sim_lightintparam_pov_casts_shadows= 8000;
sim_cameraintparam_disabled_light_components= 9000;
sim_camerafloatparam_perspective_angle= 9001;
sim_camerafloatparam_ortho_size= 9002;
sim_cameraintparam_rendering_attributes= 9003;
sim_cameraintparam_pov_focal_blur= 9004;
sim_camerafloatparam_pov_blur_distance= 9005;
sim_camerafloatparam_pov_aperture= 9006;
sim_cameraintparam_pov_blur_samples= 9007;
sim_dummyintparam_link_type= 10000;
sim_mirrorfloatparam_width= 12000;
sim_mirrorfloatparam_height= 12001;
sim_mirrorfloatparam_reflectance= 12002;
sim_mirrorintparam_enable= 12003;
sim_pplanfloatparam_x_min= 20000;
sim_pplanfloatparam_x_range= 20001;
sim_pplanfloatparam_y_min= 20002;
sim_pplanfloatparam_y_range= 20003;
sim_pplanfloatparam_z_min= 20004;
sim_pplanfloatparam_z_range= 20005;
sim_pplanfloatparam_delta_min= 20006;
sim_pplanfloatparam_delta_range= 20007;
sim_mplanintparam_nodes_computed= 25000;
sim_mplanintparam_prepare_nodes= 25001;
sim_mplanintparam_clear_nodes= 25002;
% User interface elements
sim_gui_menubar =1;
sim_gui_popups =2;
sim_gui_toolbar1 =4;
sim_gui_toolbar2 =8;
sim_gui_hierarchy =16;
sim_gui_infobar =32;
sim_gui_statusbar =64;
sim_gui_scripteditor =128;
sim_gui_scriptsimulationparameters =256;
sim_gui_dialogs =512;
sim_gui_browser =1024;
sim_gui_all =65535;
% Joint modes
sim_jointmode_passive =0;
sim_jointmode_motion =1;
sim_jointmode_ik =2;
sim_jointmode_ikdependent =3;
sim_jointmode_dependent =4;
sim_jointmode_force =5;
% Navigation and selection modes with the mouse.
sim_navigation_passive =0;
sim_navigation_camerashift =1;
sim_navigation_camerarotate =2;
sim_navigation_camerazoom =3;
sim_navigation_cameratilt =4;
sim_navigation_cameraangle =5;
sim_navigation_camerafly =6;
sim_navigation_objectshift =7;
sim_navigation_objectrotate =8;
sim_navigation_reserved2 =9;
sim_navigation_reserved3 =10;
sim_navigation_jointpathtest =11;
sim_navigation_ikmanip =12;
sim_navigation_objectmultipleselection =13;
sim_navigation_reserved4 =256;
sim_navigation_clickselection =512;
sim_navigation_ctrlselection =1024;
sim_navigation_shiftselection =2048;
sim_navigation_camerazoomwheel =4096;
sim_navigation_camerarotaterightbutton =8192;
% Remote API message header structure
simx_headeroffset_crc =0;
simx_headeroffset_version =2;
simx_headeroffset_message_id =3;
simx_headeroffset_client_time =7;
simx_headeroffset_server_time =11;
simx_headeroffset_scene_id =15;
simx_headeroffset_server_state =17;
% Remote API command header
simx_cmdheaderoffset_mem_size =0;
simx_cmdheaderoffset_full_mem_size =4;
simx_cmdheaderoffset_pdata_offset0 =8;
simx_cmdheaderoffset_pdata_offset1 =10;
simx_cmdheaderoffset_cmd =14;
simx_cmdheaderoffset_delay_or_split =18;
simx_cmdheaderoffset_sim_time =20;
simx_cmdheaderoffset_status =24;
simx_cmdheaderoffset_reserved =25;
% Regular operation modes
simx_opmode_oneshot =0;
simx_opmode_blocking =65536;
simx_opmode_oneshot_wait =65536;
simx_opmode_continuous =131072;
simx_opmode_streaming =131072;
% Operation modes for heavy data
simx_opmode_oneshot_split =196608;
simx_opmode_continuous_split =262144;
simx_opmode_streaming_split =262144;
% Special operation modes
simx_opmode_discontinue =327680;
simx_opmode_buffer =393216;
simx_opmode_remove =458752;
% Command return codes
simx_return_ok =0;
simx_return_novalue_flag =1;
simx_return_timeout_flag =2;
simx_return_illegal_opmode_flag =4;
simx_return_remote_error_flag =8;
simx_return_split_progress_flag =16;
simx_return_local_error_flag =32;
simx_return_initialize_error_flag =64;
% Following for backward compatibility (same as above)
simx_error_noerror =0;
simx_error_novalue_flag =1;
simx_error_timeout_flag =2;
simx_error_illegal_opmode_flag =4;
simx_error_remote_error_flag =8;
simx_error_split_progress_flag =16;
simx_error_local_error_flag =32;
simx_error_initialize_error_flag =64;
end
methods
%constructor
function obj = remApi(libname,hfile)
obj.libName = libname;
%fprintf('Running Matlab %s\n',computer('arch'));
disp('Note: always make sure you use the corresponding remoteApi library');
disp('(i.e. 32bit Matlab will not work with 64bit remoteApi, and vice-versa)');
if ~libisloaded(obj.libName)
if exist('hfile','var')
obj.hFile = hfile;
loadlibrary(obj.libName,obj.hFile);
else
loadlibrary(obj.libName,@remoteApiProto);
end
end
end
%destructor
function delete(obj)
% we keep the library in memory for now unloadlibrary(obj.libName);
end
%api methods
function [rtn] = simxStart(obj,server,port,waitUntilConnected,doNotReconnectOnceDisconnected,timeOutInMs,commThreadCycleInMs)
server_intval = int8([server,0]);
server_ptr = libpointer('int8Ptr',server_intval);
rtn = calllib(obj.libName,'simxStart',server_ptr,port,uint8(waitUntilConnected),uint8(doNotReconnectOnceDisconnected),timeOutInMs,commThreadCycleInMs);
end
function simxFinish(obj,clientID)
calllib(obj.libName,'simxFinish',clientID);
end
function rtn = simxAddStatusbarMessage(obj,clientID,message,operationmode)
message_ = libpointer('int8Ptr',[int8(message) 0]);
operationmode_ = int32(operationmode);
[rtn message_] = calllib(obj.libName,'simxAddStatusbarMessage',clientID,message_,operationmode_);
end
function rtn = simxAuxiliaryConsoleClose(obj,clientID,console, operationmode)
console_ = int32(console);
operationmode_ = int32(operationmode);
rtn = calllib(obj.libName,'simxAuxiliaryConsoleClose',clientID,console_,operationmode_)
end
function rtn = simxAuxiliaryConsolePrint(obj,clientID,console,text,operationmode)
console_ = int32(console);
operationmode_ = int32(operationmode);
if text
text_ = libpointer('int8Ptr',[int8(text) 0]);
else
text_ = [];
end
rtn = calllib(obj.libName,'simxAuxiliaryConsolePrint',clientID,console_,text_,operationmode_);
end
function rtn = simxAuxiliaryConsoleShow(obj,clientID,consoleHandle,showState,operationMode)
consoleHandle_ = int32(consoleHandle);
showState_ = uint8(showState);
operationMode_ = int32(operationMode);
rtn = calllib(obj.libName,'simxAuxiliaryConsoleShow',clientID,consoleHandle_,showState_,operationMode_);
end
function rtn = simxBreakForceSensor(obj,clientID,forceSensorHandle,operationMode)
forceSensorHandle_ = int32(forceSensorHandle);
operationMode_ = int32(operationMode);
rtn = calllib(obj.libName, 'simxBreakForceSensor',clientID,forceSensorHandle_,operationMode_);
end
function rtn = simxClearFloatSignal(obj,clientID,signalName,operationMode)
signalName_ = libpointer('int8Ptr',[int8(signalName) 0]);
operationMode_ = int32(operationMode);
rtn = calllib(obj.libName,'simxClearFloatSignal',clientID,signalName_,operationMode_);
end
function rtn = simxClearIntegerSignal(obj,clientID,signalName,operationMode)
signalName_ = libpointer('int8Ptr',[int8(signalName) 0]);
operationMode_ = int32(operationMode);
rtn = calllib(obj.libName,'simxClearInt32Signal',clientID,signalName_,operationMode_);
end
function rtn = simxClearInt32Signal(obj,clientID,signalName,operationMode)
signalName_ = libpointer('int8Ptr',[int8(signalName) 0]);
operationMode_ = int32(operationMode);
rtn = calllib(obj.libName,'simxClearInt32Signal',clientID,signalName_,operationMode_);
end
function rtn = simxClearStringSignal(obj,clientID,signalName,operationMode)
signalName_ = libpointer('int8Ptr',[int8(signalName) 0]);
operationMode_ = int32(operationMode);
rtn = calllib(obj.libName,'simxClearStringSignal',clientID,signalName_,operationMode_);
end
function rtn = simxCloseScene(obj,clientID,operationMode)
operationMode_ = int32(operationMode);
rtn = calllib(obj.libName,'simxCloseScene',clientID,operationMode_);
end
function [rtn newObjectHandles] = simxCopyPasteObjects(obj,clientID,objectHandles,operationMode)
objectHandles_ = libpointer('int32Ptr',int32(objectHandles));
objectCount_ = int32(numel(objectHandles));
newObjectHandles_ = libpointer('int32Ptr',[]);
newObjectCount_ = libpointer('int32Ptr',int32(0));
operationMode_ = int32(operationMode);
[rtn objectHandles_ newObjectHandles_ newObjectCount_] = calllib(obj.libName,'simxCopyPasteObjects',clientID,objectHandles_,objectCount_,newObjectHandles_,newObjectCount_,operationMode_);
if (rtn==0)&&(newObjectCount_>0)
newObjectHandles = zeros(1,newObjectCount_);
newObjectHandles_.setdatatype('int32Ptr',1,newObjectCount_);
for i=1:newObjectCount_;
newObjectHandles(i) = newObjectHandles_.value(i);
end
else
newObjectHandles=[];
end
end
function buffer = simxCreateBuffer(obj,bufferSize)
bufferSize_ = int32(bufferSize);
buffer = calllib(obj.libName,'simxCreateBuffer',bufferSize_);
end
function rtn = simxEndDialog(obj,clientID,dialogHandle,operationMode)
operationMode_ = int32(operationMode);
dialogHandle_ = int32(dialogHandle);
rtn = calllib(obj.libName,'simxEndDialog',clientID,dialogHandle_,operationMode_);
end
function rtn = simxEraseFile(obj,clientID,fileName_serverSide,operationMode)
fileName_serverSide_ = libpointer('int8Ptr',[int8(fileName_serverSide) 0]);
operationMode_ = int32(operationMode);
[rtn fileName_serverSide_] = calllib(obj.libName,'simxEraseFile',clientID,fileName_serverSide_,operationMode_);
end
function [rtn paramValues ]= simxGetArrayParameter(obj,clientID,paramIdentifier,operationMode)
paramIdentifier_ = int32(paramIdentifier);
operationMode_ = int32(operationMode);
paramValues = libpointer('singlePtr',single([0 0 0]));
[rtn paramValues] = calllib(obj.libName,'simxGetArrayParam',clientID,paramIdentifier_,paramValues ,operationMode_);
end
function [rtn paramValues ]= simxGetBooleanParameter(obj,clientID,paramIdentifier,operationMode)
paramIdentifier_ = int32(paramIdentifier);
operationMode_ = int32(operationMode);
paramValues = libpointer('uint8Ptr',uint8(0));
[rtn paramValues] = calllib(obj.libName,'simxGetBoolParam',clientID,paramIdentifier_,paramValues ,operationMode_);
end
function [rtn paramValues ]= simxGetArrayParam(obj,clientID,paramIdentifier,operationMode)
paramIdentifier_ = int32(paramIdentifier);
operationMode_ = int32(operationMode);
paramValues = libpointer('singlePtr',single([0 0 0]));
[rtn paramValues] = calllib(obj.libName,'simxGetArrayParam',clientID,paramIdentifier_,paramValues ,operationMode_);
end
function [rtn paramValues ]= simxGetBoolParam(obj,clientID,paramIdentifier,operationMode)
paramIdentifier_ = int32(paramIdentifier);
operationMode_ = int32(operationMode);
paramValues = libpointer('uint8Ptr',uint8(0));
[rtn paramValues] = calllib(obj.libName,'simxGetBoolParam',clientID,paramIdentifier_,paramValues ,operationMode_);
end
function [rtn handle] = simxGetCollisionHandle(obj,clientID,collisionObjectName,operationMode)
collisionObjectName_ = libpointer('int8Ptr',[int8(collisionObjectName) 0]);
handle_ = libpointer('int32Ptr',int32(0));
operationMode_ = int32(operationMode);
[rtn collisionObjectName_ handle] = calllib(obj.libName,'simxGetCollisionHandle',clientID,collisionObjectName_,handle_ ,operationMode_);
end
function [rtn handle] = simxGetCollectionHandle(obj,clientID,collectionName,operationMode)
collectionName_ = libpointer('int8Ptr',[int8(collectionName) 0]);
handle_ = libpointer('int32Ptr',int32(0));
operationMode_ = int32(operationMode);
[rtn collectionName_ handle] = calllib(obj.libName,'simxGetCollectionHandle',clientID,collectionName_,handle_ ,operationMode_);
end
function rtn = simxGetConnectionId(obj,clientID)
rtn = calllib(obj.libName,'simxGetConnectionId',clientID);
end
function [rtn inputText]= simxGetDialogInput(obj,clientID,dialogHandle,operationMode)
dialogHandle_ = int32(dialogHandle);
inputText_ = libpointer('int8PtrPtr');
operationMode_ = int32(operationMode);
[rtn inputText_ ] = calllib(obj.libName,'simxGetDialogInput',clientID,dialogHandle_,inputText_,operationMode_);
if (rtn==0)
s=1;
inputText_.setdatatype('int8Ptr',1,s);
value = inputText_.value(s);
while(value ~= 0)
inputText_.setdatatype('int8Ptr',1,s);
value = inputText_.value(s);
s=s+1;
end
tmp = inputText_.value(1:s-1);
inputText = char(tmp);
else
inputText = [];
end
end
function [rtn result]= simxGetDialogResult (obj,clientID,dialogHandle,operationMode)
dialogHandle_ = int32(dialogHandle);
result = libpointer('int32Ptr',int32(0));
operationMode_ = int32(operationMode);
[rtn result] = calllib(obj.libName,'simxGetDialogResult',clientID,dialogHandle_,result,operationMode_);
end
function [rtn handle] = simxGetDistanceHandle(obj,clientID,distanceObjectName,operationMode)
distanceObjectName_ = libpointer('int8Ptr',[int8(distanceObjectName) 0]);
handle_ = libpointer('int32Ptr',int32(0));
operationMode_ = int32(operationMode);
[rtn distanceObjectName_ handle] = calllib(obj.libName,'simxGetDistanceHandle',clientID,distanceObjectName_,handle_ ,operationMode_);
end
function [rtn paramValue]= simxGetFloatingParameter(obj,clientID,paramIdentifier,operationMode)
paramIdentifier_ = int32(paramIdentifier);
operationMode_ = int32(operationMode);
paramValue = libpointer('singlePtr',single(0));
[rtn paramValue] = calllib(obj.libName,'simxGetFloatParam',clientID,paramIdentifier_,paramValue,operationMode_);
end
function [rtn paramValue]= simxGetFloatParam(obj,clientID,paramIdentifier,operationMode)